This study aims to develop a magnetorheological(MR)damper for semi-active knee prostheses to restore the walking ability of transfemoral amputees.The core dimensions of the MR damper were determined via theoretical ma...This study aims to develop a magnetorheological(MR)damper for semi-active knee prostheses to restore the walking ability of transfemoral amputees.The core dimensions of the MR damper were determined via theoretical magnetic field calculations,and the theoretical relationship between current and joint torque was derived through electromagnetic simulation.Then,a physical prototype of the semi-active prosthetic knee equipped with the MR damper was manufactured.Based on the data obtained from angle sensor,pressure sensor(loadcell),and inertial measurement unit(IMU)on the prosthesis,a matching control algorithm is developed.The joint torque of the MR damper can be adaptively adjusted according to the walking speed of the amputee,allowing the amputee to realize a natural gait.The effectiveness of the control program was verified by the ADAMS and MATLAB co-simulation.The results of the test and simulation show that the MR damper can provide sufficient torque needed for normal human activities.展开更多
为了提高智能车的控制精度,以碰撞中心(Center of Percussion,COP)为参考点建立前馈-反馈控制模型,并用该控制模型求解LQR(Linear Quadratic Regulator)问题,获得状态反馈控制率,实现最优控制。在双移线工况和8字形工况下,使用Matlab/Si...为了提高智能车的控制精度,以碰撞中心(Center of Percussion,COP)为参考点建立前馈-反馈控制模型,并用该控制模型求解LQR(Linear Quadratic Regulator)问题,获得状态反馈控制率,实现最优控制。在双移线工况和8字形工况下,使用Matlab/Simulink和Carsim对LQR轨迹跟踪控制器进行联合仿真。结果表明:与固定增益前馈-反馈控制器相比,LQR轨迹跟踪控制器的控制精度更高。展开更多
Electric drive systems for new energy cars are complex systems that should have multivariate,strong coupling,and non-linear characteristics and should also involve the multiphysics field.The singular simulation softwa...Electric drive systems for new energy cars are complex systems that should have multivariate,strong coupling,and non-linear characteristics and should also involve the multiphysics field.The singular simulation software used at present in the modeling of electric drive systems cannot simulate the influences of all the physics fields on the operating system.The co-simulation model used in this paper was based on a specific type of car.The motor control algorithm model was built in MATLAB/Simulink,the electromagnetic finite element model of the motor was built in ANSYS EM-Maxwell,and the motor controller hardware circuit was built in ANSYS EM-Simplorer.To make real-time connections among these software platforms,a multi-software co-simulation platform was built,and the co-simulation platform’s simulation results were input into STAR CCM+software to enable finite element modeling of the motor and running of thermal analysis.When compared with the electric drive system model built using single Simulink software,the simulation results from this co-simulation platform were more realistic and were shown to be closer to reality when the dynamic characteristics of the electric drive system’s power semiconductor switching devices and the motor’s electromagnetic characteristics were considered.Finally,by benchmarking the multiphysics field co-simulation platform simulation results using dyno bench test results,the validity of the co-simulation platform was verified and the development of the multiphysics field co-simulation of the basic electric drive system was complete.展开更多
基金funded by Key Technologies Research and Development Program(2018YFC2001300)the Science and Technology Research Project of Educational Department of Jilin Province(JJKH20241259KJ)+1 种基金the National Natural Science Foundation of China(91948302,91848204,52021003)the Project of Scientific and Technological Development Plan of Jilin Province(20220508130RC).
文摘This study aims to develop a magnetorheological(MR)damper for semi-active knee prostheses to restore the walking ability of transfemoral amputees.The core dimensions of the MR damper were determined via theoretical magnetic field calculations,and the theoretical relationship between current and joint torque was derived through electromagnetic simulation.Then,a physical prototype of the semi-active prosthetic knee equipped with the MR damper was manufactured.Based on the data obtained from angle sensor,pressure sensor(loadcell),and inertial measurement unit(IMU)on the prosthesis,a matching control algorithm is developed.The joint torque of the MR damper can be adaptively adjusted according to the walking speed of the amputee,allowing the amputee to realize a natural gait.The effectiveness of the control program was verified by the ADAMS and MATLAB co-simulation.The results of the test and simulation show that the MR damper can provide sufficient torque needed for normal human activities.
文摘为了提高智能车的控制精度,以碰撞中心(Center of Percussion,COP)为参考点建立前馈-反馈控制模型,并用该控制模型求解LQR(Linear Quadratic Regulator)问题,获得状态反馈控制率,实现最优控制。在双移线工况和8字形工况下,使用Matlab/Simulink和Carsim对LQR轨迹跟踪控制器进行联合仿真。结果表明:与固定增益前馈-反馈控制器相比,LQR轨迹跟踪控制器的控制精度更高。
文摘Electric drive systems for new energy cars are complex systems that should have multivariate,strong coupling,and non-linear characteristics and should also involve the multiphysics field.The singular simulation software used at present in the modeling of electric drive systems cannot simulate the influences of all the physics fields on the operating system.The co-simulation model used in this paper was based on a specific type of car.The motor control algorithm model was built in MATLAB/Simulink,the electromagnetic finite element model of the motor was built in ANSYS EM-Maxwell,and the motor controller hardware circuit was built in ANSYS EM-Simplorer.To make real-time connections among these software platforms,a multi-software co-simulation platform was built,and the co-simulation platform’s simulation results were input into STAR CCM+software to enable finite element modeling of the motor and running of thermal analysis.When compared with the electric drive system model built using single Simulink software,the simulation results from this co-simulation platform were more realistic and were shown to be closer to reality when the dynamic characteristics of the electric drive system’s power semiconductor switching devices and the motor’s electromagnetic characteristics were considered.Finally,by benchmarking the multiphysics field co-simulation platform simulation results using dyno bench test results,the validity of the co-simulation platform was verified and the development of the multiphysics field co-simulation of the basic electric drive system was complete.
